CN101951547A - Near-field low-frequency wireless positioning method used for automatically-guided vehicle - Google Patents
Near-field low-frequency wireless positioning method used for automatically-guided vehicle Download PDFInfo
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- CN101951547A CN101951547A CN 201010272115 CN201010272115A CN101951547A CN 101951547 A CN101951547 A CN 101951547A CN 201010272115 CN201010272115 CN 201010272115 CN 201010272115 A CN201010272115 A CN 201010272115A CN 101951547 A CN101951547 A CN 101951547A
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Abstract
The invention relates to a near-field low-frequency wireless positioning method used for an automatically-guided vehicle. The method comprises the following steps of: first, initializing a controller of a vehicle-mounted positioning module, reading a calibration parameter, and waiting a positioning starting command from a motor control module; then, after receiving the positioning starting command of the motor control module, sending an initialization command by a guiding module so as to initialize the guiding module; next, transmitting a signal by a low-frequency transmitting base station in the vehicle-mounted positioning module, returning a signal strength value RSSI (dn) to obtain the distance between each low-frequency transmitting base station and the guiding module after receiving the signal by the guiding module, selecting any three distance values, and calculating three-dimensional coordinate values of the guiding module; later on, averaging all three-dimensional coordinate values of the guiding module to obtain final three-dimensional coordinate values; and finally, sending the final three-dimensional coordinate values to the motor control module to guide a vehicle to move along with the guiding module. The method has the advantages of high adaptive ability and high response speed.
Description
Technical field
The invention belongs to technical field of automation, particularly relate to a kind of near field low frequency wireless location method that is used for automated guided vehicle.
Background technology
When automated guided vehicle travelled in the structured road environment automatically, the tracking in path was to be that the controlled motion direction is come on the basis with predefined fixed guide path.In order to be implemented in the automatic guiding of vehicle under the non-road environment, can adopt less radio-frequency orientation direction technology, this work is finished by wireless locating module.The State Control of automated guided vehicle is based on wireless locating module, according to the result of module, the control automated guided vehicle finish car body acceleration, slow down, turn to and action such as parking.Therefore, the speed of wireless locating module and precision are to guarantee that automated guided vehicle in real time, accurately and the key of reliable movement.
Wireless location technology has a variety of, here adopt (Received Signal StrengthIndicator based on RSSI, received signal intensity indication) low frequency wireless location technology, it is a kind of positioning accuracy height, low in energy consumption, cost is low, reaction speed is fast high performance-price ratio wireless location technology.In low frequency location based on RSSI, the transmit signal strength of known low frequencies base station, module to be positioned (hereinafter referred to as bootstrap module) calculates the propagation loss of signal to signal strength signal intensity according to actual reception, utilize theory and empirical model that loss is converted into distance, utilize certain algorithm computation to go out the position of bootstrap module again, positional information comprises azimuth and air line distance.
Need to overcome following problem in the wireless locating module design process: 1, overcome the influence of external environment variation to positioning result; 2, overcome the influence of random disturbances to positioning accuracy; 3, overcome the influence of antenna directivity to positioning result; 4, satisfy the computing of the big load of system.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, proposed a kind of near field low frequency wireless location method that is used for automated guided vehicle.
The concrete steps of the inventive method are:
Step (1) is to the controller initialization of vehicle positioning module, and the initialization object comprises single-chip microcomputer clock frequency, input and output, built-in variable, register, nonvolatile memory and the interruption in the controller;
The controller of step (2) vehicle positioning module reads the calibrating parameters of place environment correspondence from nonvolatile memory, described calibrating parameters comprises that path attenuation index λ, standard deviation are the normal random variable ξ of σ
σ, d
0The RSSI signal strength values RSSI (d that rice bootstrap module is received
0); λ, ξ
σAnd RSSI (d
0) adopt least square method to obtain according to place environment match;
Step (3) vehicle positioning module is waited for the positioning starting order from motor control module; If receive the positioning starting order of motor control module, then execution in step (4) if do not receive the positioning starting order of motor control module, then repeats this step;
The HF communication module of step (4) vehicle positioning module by carrying sends initialization command to bootstrap module in 433.05MHz～434.79MHz frequency range, enable the bootstrap module initialization;
Single-chip microcomputer clock frequency, input and output, built-in variable, register and interruption in its inner controller of bootstrap module initialization enable the three-dimensional low frequency receiver on the bootstrap module;
The low frequencies function that step (5) vehicle positioning module is closed all N low frequencies base stations enables the low frequencies function of n low frequencies base station, and tranmitting frequency is constant to be f
c, emission RSSI signal strength values is constant to be RSSI (C), and the HF communication module of vehicle positioning module by carrying sends the reception order to bootstrap module in 433.05MHz～434.79MHz frequency range simultaneously, and wherein n is a natural number, and n≤N;
Bootstrap module receives the low frequency radio signal from n low frequencies base station, obtains receiving RSSI signal strength values RSSI (d
n); The HF communication module that bootstrap module carries is beamed back RSSI (d to the vehicle positioning module in 433.05MHz～434.79MHz frequency range
n), this value of vehicle positioning module records also is stored in the internal memory;
The vehicle positioning module calculate bootstrap module apart from n low frequencies base station apart from d
n,
The time t of step (6) delay adjustments, repeated execution of steps (5) in obtaining N low frequencies base station each low frequencies base station correspondence apart from d
1, d
2, d
3... d
N-1, d
N
With any one low frequencies base station is initial point, sets up 3 d space coordinate system, then d
1, d
2, d
3... d
N-1, d
NCorresponding N low frequencies base station three-dimensional coordinate (x of difference
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3) ... (x
N, y
N, z
N);
Step (7) is at d
1, d
2, d
3... d
N-1, d
NIn optional 3 distance values, be labeled as d respectively
M1, d
M2, d
M3, three low frequencies base station three-dimensional coordinates of its correspondence are designated as (x
M1, y
M1, z
M1), (x
M2, y
M2, z
M2), (x
M3, y
M3, z
M3);
The group of solving an equation
Obtain the D coordinates value (x of a bootstrap module of orienting
m, y
m, z
m);
Step (8) repeated execution of steps (7)
Inferior, obtain
The D coordinates value of individual bootstrap module
Step (9) obtains according to step (8)
The D coordinates value of individual bootstrap module, the final D coordinates value (x of calculating bootstrap module
r, y
r, z
r);
Step (10) vehicle positioning module sends final D coordinates value (x to motor control module
r, y
r, z
r);
Step (11) repeating step (5) calculates the three-dimensional coordinate of bootstrap module in real time to step (10), so that automated guided vehicle is followed the bootstrap module operation, till the power supply of vehicle positioning module is closed.
The beneficial effect that the present invention had:
(1), adaptive ability is strong, can better overcome the influence of external environment to location algorithm;
(2), precision height, reaction speed are fast as a result for wireless location;
(3), can better overcome the influence of antenna directivity to positioning result, can satisfy the big load computing of system.
Description of drawings
Fig. 1 is the structural representation of use occasion of the present invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, be equipped with on the vehicle positioning module 1 the first low frequencies base station 1-1-1, the second low frequencies base station 1-1-2, the 3rd low frequencies base station 1-1-3 ..., N low frequencies base station 1-1-N, amount to N low frequencies base station and a HF communication module 1-2, the communication function of the emission function of low frequencies base station and HF communication module is controlled by the controller on the vehicle positioning module 1.Three-dimensional low frequency receiver 2-1 is housed on the bootstrap module 2 of a distance, this receiver can be accepted the low frequency radio signal from the low frequencies base station effectively, and HF communication module 2-2 on the bootstrap module and the HF communication module 2-1 on the vehicle positioning module communicate in certain frequency domain.
On the basis of the above, the concrete steps of the inventive method are as follows:
Step (1) is to the controller 1-3 initialization of vehicle positioning module, and the initialization object comprises single-chip microcomputer clock frequency, input and output, built-in variable, register, nonvolatile memory and the interruption in the controller; The controller of vehicle positioning module adopts 16 double-core microcontroller MC9S12XEP100 of Freescale company, this controller inside comprises the coprocessor that a frequency can reach 100MHz, can be used for finishing a large amount of mathematical operations, nonvolatile memory is contained in inside, the CPU line running frequency 40MHz that adopts in the use.
Controller in the vehicle positioning module of step (2) wireless locating module reads the calibrating parameters of place environment correspondence from nonvolatile memory, calibrating parameters comprises that path attenuation index λ, standard deviation are the normal random variable ξ of σ
σ, d
0The RSSI signal strength values RSSI (d that rice bootstrap module is received
0); λ, ξ
σ, RSSI (d
0) closely related with external environment, can adopt least square method to obtain according to place environment match; The process of calibrating parameters: fixing low frequencies base station, between distance low frequencies base station 0 to 10m, choose a test point every the distance of 20cm, bootstrap module is positioned at the test point place, test low frequencies base station is in that emission RSSI signal strength values is constant when being RSSI (C), the RSSI signal strength values that bootstrap module is received at the test point place records a series of intensity levels, adopts least square method to λ, ξ
σCarry out match, choose d
0Be 5m, the RSSI signal strength values RSSI (d that the test bootstrap module is received at this point
0), λ, ξ
σ, RSSI (d
0) be stored in the nonvolatile memory of MC9S12XEP100.
Step (3) vehicle positioning module is waited for the positioning starting order from motor control module; If receive the positioning starting order of motor control module, then execution in step (4) if do not receive the positioning starting order of motor control module, then repeats this step;
(433.05MHz～434.79MHz) high frequency radio signal of frequency range sends initialization command to bootstrap module to step (4) vehicle positioning module, enables the bootstrap module initialization by ISM; Single-chip microcomputer clock frequency, input and output, built-in variable, register and interruption among the controller 2-3 of bootstrap module initialization inside enable the three-dimensional low frequency reception antenna on the bootstrap module; The high frequency radio signal frequency of ISM band is for adopting the FSK modulation system.The controller of bootstrap module inside is selected the MC9S08AC16 of Freescale company for use, and CPU running frequency 32MHz, cpu bus frequency 16MHz, this controller comprise abundant input and output, regular device and interrupt resources.Three-dimensional low frequency reception antenna on the bootstrap module owing to adopt three-dimensional structure, can well receive three-dimensional low frequency wireless signal, when having reduced the low frequency wireless receiving bootstrap module is placed the requirement of attitude.
Step (5) vehicle positioning module comprises N (N 〉=3) individual low frequencies base station, and its three-dimensional coordinate is followed successively by (x
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3) ... (x
N, y
N, z
N); Close the low frequencies function of all N low frequencies base stations, (the low frequencies function of the individual low frequencies of n≤N) base station, tranmitting frequency is constant to be f to enable n
c, emission RSSI signal strength values is constant to be RSSI (C);
The vehicle positioning module sends the reception order by the high frequency radio signal of ISM band to bootstrap module; It is f that bootstrap module begins frequency
cThe reception of low frequency radio signal, obtain receiving RSSI signal strength values RSSI (d
0); Bootstrap module is beamed back RSSI (d by the high frequency radio signal of ISM band to the vehicle positioning module
n), this value of vehicle positioning module records also is stored in the internal memory; To RSSI (d
n), the vehicle positioning module is according to formula
Calculate bootstrap module apart from n (the individual low frequencies of n≤N) base station apart from d
nN chooses 6 generally speaking, both can improve the precision of subsequent calculations, also can reduce operand, f
cBe 125KHz.
30 milliseconds of step (6) delay times, repeated execution of steps (5) in obtaining N low frequencies base station each low frequencies base station correspondence apart from d
1, d
2, d
3... d
N-1, d
N
With any one low frequencies base station is initial point, sets up 3 d space coordinate system, then d
1, d
2, d
3... d
N-1, d
NCorresponding N low frequencies base station three-dimensional coordinate (x of difference
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3) ... (x
N, y
N, z
N);
Pick out 3 distance values in N the distance value that step (7) obtains from step (6), one is total
Plant and select scheme, number consecutively is
Suppose wherein a certain scheme m
In 3 distance values be d
M1, d
M2, d
M3, three corresponding low frequencies base station coordinates are designated as (x
M1, y
M1, z
M1), (x
M2, y
M2, z
M2), (x
M3, y
M3, z
M3);
The group of solving an equation
Obtain the D coordinates value (x of a bootstrap module of orienting
m, y
m, z
m).
Step (8) repeated execution of steps (7)
Inferior, obtain
The D coordinates value of individual bootstrap module
Step (9) obtains step (8)
The D coordinates value of individual bootstrap module is calculated according to following formula
Result (x
r, y
r, z
r) be the D coordinates value of final bootstrap module;
Step (10) vehicle positioning module sends positioning result (x to motor control module
r, y
r, z
r); Motor control module is received positioning result (x
r, y
r, z
r) after, can calculate the azimuth and the distance of bootstrap module, and make decisions according to this azimuth and distance, drive motors turns to or advances.
Step (11) repeating step (5) is to step (10), is closed until the power supply of vehicle positioning module; The vehicle positioning module approximately outwards sends the one-time positioning result every 0.6s, chooses the time interval that less low frequency locating base station can reduce outwards to send positioning result, and improves system response speed, makes that the control action of motor control module is meticulousr.
Claims (1)
1. the near field low frequency wireless location method that is used for automated guided vehicle is characterized in that this method comprises the steps:
Step (1) is to the controller initialization of vehicle positioning module; The initialization object comprises single-chip microcomputer clock frequency, input and output, built-in variable, register, nonvolatile memory and the interruption in the controller;
The controller of step (2) vehicle positioning module reads the calibrating parameters of place environment correspondence from nonvolatile memory; Described calibrating parameters comprises that path attenuation index λ, standard deviation are the normal random variable ξ of σ
σ, d
0The RSSI signal strength values RSSI (d that rice bootstrap module is received
0); λ, ξ
σAnd RSSI (d
0) adopt least square method to obtain according to place environment match;
Step (3) vehicle positioning module is waited for the positioning starting order from motor control module; If receive the positioning starting order of motor control module, then execution in step (4) if do not receive the positioning starting order of motor control module, then repeats this step;
The HF communication module of step (4) vehicle positioning module by carrying sends initialization command to bootstrap module in 433.05MHz～434.79MHz frequency range, enable the bootstrap module initialization;
Single-chip microcomputer clock frequency, input and output, built-in variable, register and interruption in its inner controller of bootstrap module initialization enable the three-dimensional low frequency receiver on the bootstrap module;
The low frequencies function that step (5) vehicle positioning module is closed all N low frequencies base stations enables the low frequencies function of n low frequencies base station, and tranmitting frequency is constant to be f
c, emission RSSI signal strength values is constant to be RSSI (C), and the HF communication module of vehicle positioning module by carrying sends the reception order to bootstrap module in 433.05MHz～434.79MHz frequency range simultaneously, and wherein n is a natural number, and n≤N;
Bootstrap module receives the low frequency radio signal from n low frequencies base station, obtains receiving RSSI signal strength values RSSI (d
n); The HF communication module that bootstrap module carries is beamed back RSSI (d to the vehicle positioning module in 433.05MHz～434.79MHz frequency range
n), this value of vehicle positioning module records also is stored in the internal memory;
The vehicle positioning module calculate bootstrap module apart from n low frequencies base station apart from d
n,
The time t of step (6) delay adjustments, repeated execution of steps (5) in obtaining N low frequencies base station each low frequencies base station correspondence apart from d
1, d
2, d
3... d
N-1, d
N
With any one low frequencies base station is initial point, sets up 3 d space coordinate system, then d
1, d
2, d
3... d
N-1, d
NCorresponding N low frequencies base station three-dimensional coordinate (x of difference
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3) ... (x
N, y
N, z
N);
Step (7) is at d
1, d
2, d
3... d
N-1, d
NIn optional 3 distance values, be labeled as d respectively
M1, d
M2, d
M3, three low frequencies base station three-dimensional coordinates of its correspondence are designated as (x
M1, y
M1, z
M1), (x
M2, y
M2, z
M2), (x
M3, y
M3, z
M3);
The group of solving an equation
Obtain the D coordinates value (x of a bootstrap module of orienting
m, y
m, z
m);
Step (8) repeated execution of steps (7)
Inferior, obtain
The D coordinates value of individual bootstrap module
Step (9) obtains according to step (8)
The D coordinates value of individual bootstrap module, the final D coordinates value (x of calculating bootstrap module
r, y
r, z
r); Wherein
Step (10) vehicle positioning module sends final D coordinates value (x to motor control module
r, y
r, z
r);
Step (11) repeating step (5) calculates the three-dimensional coordinate of bootstrap module in real time to step (10), so that automated guided vehicle is followed the bootstrap module operation, till the power supply of vehicle positioning module is closed.
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| CN 201010272115 CN101951547B (en) | 2010-09-03 | 2010-09-03 | Near-field low-frequency wireless positioning method used for automatically-guided vehicle |
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| CN101951547A true CN101951547A (en) | 2011-01-19 |
| CN101951547B CN101951547B (en) | 2013-01-30 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102231083A (en) * | 2011-04-15 | 2011-11-02 | 合肥工业大学 | Positioning and parking control method of three-wheeled railless AGV (automatic guided vehicle) |
| CN102750498A (en) * | 2011-04-22 | 2012-10-24 | 国民技术股份有限公司 | Reader, transponder, location system and location method |
| CN112037568A (en) * | 2020-09-09 | 2020-12-04 | 联通(浙江)产业互联网有限公司 | Parking navigation information pushing method, device and system |
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| US20080039114A1 (en) * | 2006-08-11 | 2008-02-14 | Sirf Technology, Inc. | Cell id based positioning from cell intersections |
| CN101398476A (en) * | 2007-09-29 | 2009-04-01 | 广达电脑股份有限公司 | Positioning system |
| CN101553029A (en) * | 2009-05-14 | 2009-10-07 | 西安交通大学 | Positioning method and positioning device of signal intensity rate in wireless sensor network |
-
2010
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080039114A1 (en) * | 2006-08-11 | 2008-02-14 | Sirf Technology, Inc. | Cell id based positioning from cell intersections |
| CN101398476A (en) * | 2007-09-29 | 2009-04-01 | 广达电脑股份有限公司 | Positioning system |
| CN101553029A (en) * | 2009-05-14 | 2009-10-07 | 西安交通大学 | Positioning method and positioning device of signal intensity rate in wireless sensor network |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102231083A (en) * | 2011-04-15 | 2011-11-02 | 合肥工业大学 | Positioning and parking control method of three-wheeled railless AGV (automatic guided vehicle) |
| CN102231083B (en) * | 2011-04-15 | 2012-11-07 | 合肥工业大学 | Positioning and parking control method of three-wheeled railless AGV (automatic guided vehicle) |
| CN102750498A (en) * | 2011-04-22 | 2012-10-24 | 国民技术股份有限公司 | Reader, transponder, location system and location method |
| CN112037568A (en) * | 2020-09-09 | 2020-12-04 | 联通(浙江)产业互联网有限公司 | Parking navigation information pushing method, device and system |
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| Publication number | Publication date |
|---|---|
| CN101951547B (en) | 2013-01-30 |
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Effective date of registration: 20131022 Address after: 226600 Tongyu Road, Power Development Zone, Haian County, Jiangsu Province Patentee after: Nantong Rushang Electric Vehicle Technology Co., Ltd. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 street Patentee before: Hangzhou Electronic Science and Technology Univ |